YASKAWA SGDA series User Manual

3.6Minimizing Positioning Time
117
For speed/torque control (SGDA-jjjS) only.
Cn-01
Setting
Control Mode
Bit B Bit A
Control
Mode
Speed Control
This is normal speed control.
D Speed reference is input from V-REF
(1CN-3).
D Signal P-CON
(1CN-15) is used to switch
between P control and PI control.
SGDA
Servopack
Speed
reference
P/PI
chan
g
eover
0 0
P-CON (1CN-15)
is open (OFF)
PI control
changeover
P-CON (1CN-15)
is closed (ON)
P control
D Torque reference input T-REF (1CN-1)
cannot be used.
2) Proportional control can be used in the following two ways.
a) When operation is performed by sending speed references from the host controller to
the Servopack, the host controller can selectively use P control mode for particular
conditions only. This method can prevent the occurrence of overshoot and also short-
en settling time. For particular conditions, refer to 3.6.6 Using Mode Switch.
b) If PI control mode is used when the speed reference has a reference offset, the motor
may rotate at a very slow speed and fail to stop even if 0 is specified as a speed refer-
ence. In this case, use P control mode to stop the motor.
3.6.5 Setting Speed Bias
The settling time for positioning can be reduced by assigning bias to the speed reference out-
put part in the Servopack. To assign bias, use the following constant.
Cn-1C
BIASLV
Bias
Unit:
r/min
Setting
Range: 0
to 450
Factory
Setting: 0
For Position Control
Only
This user constant is for position control
(SGDA-jjjP) only.
This user constant is set to assign an offset to a
speed reference in the SGDA Servopack.
Use this constant to shorten settling time.
Set this user constant according to machine conditions.
3
SGDA- P
Positions
Internal speed
reference
Error pulse

YASKAWA SGDA series Specifications

General

Brand	YASKAWA
Model	SGDA series
Category	Servo Drives
Language	English